void ResetTarget()
{
if (target == null)
{
return;
}
target.locked = false;
target.loading = false;
target.controllable = false;
target = null;
}
void Update()
{
if (!recording && Physics.Raycast(p.center, -transform.up, out hit, range))
{
GestureTarget gt = hit.transform.GetComponent <GestureTarget> ();
if (gt != null && !gt.locked && !gt.controlled)
{
if (target != null)
{
ResetTarget(target);
}
target = gt;
gt.controllable = false;
gt.locked = true;
initialPoint = target.transform.position;
}
}
else if (!recording && target != null)
{
target.controllable = true;
ResetTarget(target);
}
if (target != null || recording)
{
weight += speed * Time.deltaTime;
if (weight < 1)
{
target.transform.position = Vector3.Lerp(target.transform.position,
initialPoint + Random.insideUnitSphere * shakeAmount,
shakeForce * weight * Time.deltaTime
);
}
else if (!recording)
{
target.transform.position = initialPoint;
mark = Time.time;
startPosition = p.center;
recording = true;
target.highlight = true;
}
else if (Time.time > mark + recordTime)
{
endPosition = p.center;
ProcessGesture();
recording = false;
}
}
//Debug
Debug.DrawRay(p.center, -transform.up * range, Color.yellow);
}
IEnumerator Reset(GestureTarget gt, bool cool = false)
{
target = null;
gt.highlight = false;
weight = 0;
if (cool)
{
print("cool started");
yield return(new WaitForSeconds(cooldown));
print("cool ended");
//robot
gt.loading = true;
while (!robotSynced)
{
yield return(null);
}
gt.controllable = true;
}
gt.loading = false;
gt.locked = false;
gt = null;
}
void ResetTarget(GestureTarget gt, bool cool = false)
{
StartCoroutine(Reset(gt, cool));
}
void Update()
{
loadingBuffer.text = "";
if (contextTargets.Count == 0 || !canSelect)
{
ResetTarget();
return;
}
if (target != null && target.controlled)
{
return;
}
//Find closest target
float minDist = -1;
Transform swap = null;
foreach (Transform t in contextTargets)
{
float d = Vector3.Distance(t.position, pairable.center);
if (d < range)
{
if (d < minDist || minDist == -1)
{
swap = t;
minDist = d;
}
}
}
if (minDist > -1)
{
ResetTarget();
target = swap.GetComponent <GestureTarget>();
target.locked = true;
//Debug
Debug.DrawLine(target.transform.position, pairable.center, Color.yellow);
}
else
{
ResetTarget();
}
if (target == null)
{
return;
}
// here: move the robot to target.position
robotCtrl.setDestination(target.transform.position);
robotSynced = robotCtrl.hasArrived();
//Process target
target.robot = robotCtrl.getExecuteRbt();
target.controllable = robotSynced;
target.loading = !robotSynced;
//
if (target.loading)
{
loadingBuffer.transform.position = target.transform.position + Vector3.up * loadingOffset;
//copy
float div = Time.time % 3;
loadingBuffer.text = div < 1 ? ". " : div >= 2 ? "..." : ".. ";
}
}
